gstreamer/ext/opencv/gstdisparity.h

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/*
* GStreamer
* Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*
* Alternatively, the contents of this file may be used under the
* GNU Lesser General Public License Version 2.1 (the "LGPL"), in
* which case the following provisions apply instead of the ones
* mentioned above:
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Library General Public
* License as published by the Free Software Foundation; either
* version 2 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Library General Public License for more details.
*
* You should have received a copy of the GNU Library General Public
* License along with this library; if not, write to the
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#ifndef __GST_DISPARITY_H__
#define __GST_DISPARITY_H__
#include <gst/gst.h>
#include <gst/video/video.h>
#include <opencv2/core.hpp>
#include <opencv2/calib3d.hpp>
G_BEGIN_DECLS
/* #defines don't like whitespacey bits */
#define GST_TYPE_DISPARITY \
(gst_disparity_get_type())
#define GST_DISPARITY(obj) \
(G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_DISPARITY,GstDisparity))
#define GST_DISPARITY_CLASS(klass) \
(G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_DISPARITY,GstDisparityClass))
#define GST_IS_DISPARITY(obj) \
(G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_DISPARITY))
#define GST_IS_DISPARITY_CLASS(klass) \
(G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_DISPARITY))
typedef struct _GstDisparity GstDisparity;
typedef struct _GstDisparityClass GstDisparityClass;
struct _GstDisparity
{
GstElement element;
GstPad *sinkpad_left, *sinkpad_right, *srcpad;
GstCaps *caps;
gint method;
gboolean display;
int width;
int height;
int actualChannels;
GstBuffer *buffer_left;
GMutex lock;
GCond cond;
gboolean flushing;
2018-12-01 21:48:53 +00:00
cv::Size imgSize;
cv::Mat cvRGB_right;
cv::Mat cvRGB_left;
cv::Mat cvGray_right;
cv::Mat cvGray_left;
cv::Mat cvGray_depth_map1; /*IPL_DEPTH_16S */
cv::Mat cvGray_depth_map2; /*IPL_DEPTH_8U */
cv::Mat cvGray_depth_map1_2; /*IPL_DEPTH_16S */
cv::Mat img_right_as_cvMat_gray;
cv::Mat img_left_as_cvMat_gray;
cv::Mat depth_map_as_cvMat;
cv::Ptr<cv::StereoBM> sbm; /* cv::StereoBM */
cv::Ptr<cv::StereoSGBM> sgbm; /* cv::StereoSGBM */
};
struct _GstDisparityClass
{
GstElementClass parent_class;
};
GType gst_disparity_get_type (void);
GST_ELEMENT_REGISTER_DECLARE (disparity);
G_END_DECLS
#endif /* __GST_DISPARITY_H__ */